A roughening glue spraying device for shoe uppers based on visual correction technology

Abstract

This utility model belongs to the field of shoe upper roughening and spraying technology, specifically relating to a shoe upper roughening and spraying device based on visual correction technology. It includes a housing, a front baffle on one side of the housing, a visual correction mechanism on the front baffle, a conveying and clamping mechanism on the lower side of the front baffle, a robotic arm on one side of the conveying and clamping mechanism, and a roughening mechanism on the robotic arm. The visual correction mechanism includes a movable component fixedly connected to the housing, a mounting plate on the movable component, and a 3D camera on the mounting plate. The conveying and clamping mechanism includes a conveying component, a cylinder plate on the conveying component, a clamping cylinder on the cylinder plate, a fixed shoe block on one side of the clamping cylinder, and shoe fittings on the fixed shoe block. This utility model uses intelligent 3D visual correction technology to automatically generate the roughening motion trajectory of the robotic arm, intelligently identify the shoe upper style and size, and then retrieve the corresponding shoe upper trajectory. The intelligent algorithm system adjusts and adapts the trajectory in real time.

Description

Technical Field

[0001] This utility model belongs to the field of shoe upper roughening spraying technology, specifically relating to a shoe upper roughening spraying device based on visual correction technology. Background Technology

[0002] In the shoe upper processing stage of the footwear industry, roughing and adhesive spraying are key processes affecting the bonding quality of shoes. Traditional processes rely heavily on manual operation or semi-automated equipment for roughing, which has the following drawbacks: insufficient positioning accuracy, leading to positional deviations when manually placing shoe parts, causing roughing trajectory deviations and affecting subsequent adhesive spraying; shoe parts are prone to shaking during transport, especially curved uppers, and traditional clamps are difficult to adapt to different shoe shapes, resulting in uneven roughing depth; manual adjustment of equipment parameters (such as roughing position and force) is time-consuming and cannot meet the needs of mass production; and the lack of real-time visual correction functionality means that even slight displacement of the shoe parts (≥0.5mm) can result in roughing accuracy errors of 1-2mm. Therefore, there is an urgent need for an integrated device that combines visual inspection, stable clamping, and precise roughing. Utility Model Content

[0003] To address the aforementioned shortcomings in the existing technology, this utility model provides a shoe upper roughening spraying device based on visual correction technology, in order to solve the problems mentioned in the background technology.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A shoe upper roughening and adhesive spraying device based on visual correction technology includes a box body. A front baffle is provided on one side of the box body, and a visual correction mechanism is provided on the front baffle. A conveying and clamping mechanism is provided below the front baffle. A robotic arm is provided on one side of the conveying and clamping mechanism, and a roughening mechanism is provided on the robotic arm. The visual correction mechanism includes a movable component fixedly connected to the box body, a mounting plate on the movable component, and a 3D camera on the mounting plate. The conveying and clamping mechanism includes a conveying component, a cylinder plate on the conveying component, a clamping cylinder on the cylinder plate, a fixed shoe block on one side of the clamping cylinder, shoe fittings on the fixed shoe block, a shoe fitting support plate on the front side of the fixed shoe block, a support column on the shoe fitting support plate, and a support pad on the support column.

[0006] Furthermore, the roughing mechanism includes a flange cylinder connected to the robotic arm, a flange plate on the lower side of the flange cylinder, roughing support plates on both sides of the flange plate, a floating fixing plate on the inner side of the roughing support plate, a universal float on the floating fixing plate, a roughing abrasive on the lower side of the universal float, a rear plate on one side of the flange plate, and an installation block fixedly connected to the roughing support plate, with a dust suction pipe on the installation block.

[0007] Furthermore, the movable component includes a base plate fixedly connected to the housing, a fixed plate on the base plate, movable support plates on both sides of the fixed plate, a fixed block on the movable support plate, a vision motor on the fixed block, the vision motor being connected to a lead screw, a slider on the lead screw, a baffle passing through the slider, the baffle being fixedly connected to the movable support plate, and a mounting plate being fixedly connected to the slider.

[0008] Furthermore, the conveying assembly includes a conveying fixing plate fixedly connected to the housing, conveying support plates on both sides of the conveying fixing plate, a conveying fixing block on one side of the conveying support plate, a conveying motor on one side of the conveying fixing block, the output end of the conveying motor being connected to a conveying lead screw, a conveying slider on the conveying lead screw, a conveying mounting plate on the upper side of the conveying slider, a conveying baffle on the upper end of the conveying support plate, the conveying baffle passing through the conveying slider, a dustproof component on the conveying baffle, and a cylinder plate fixedly connected to the conveying mounting plate.

[0009] Furthermore, the clamping cylinder push rod is provided with a rubber pad, the outside of the clamping cylinder is provided with a dust cover, and the support pad is made of rubber material.

[0010] Furthermore, the fixed shoe block is provided with a boss, which is fixed to the shoe.

[0011] Furthermore, a U-shaped groove is provided on one side of the suction pipe, in which the roughing tool can move. An air pipe connector is provided on the universal float.

[0012] Furthermore, the 3D camera is electrically connected to the PLC control panel, and the robotic arm is electrically connected to the PLC control panel.

[0013] Compared with the prior art, this utility model has the following advantages:

[0014] 1. Intelligent 3D visual correction technology automatically generates the motion trajectory of the robotic arm during roughing and glue spraying. A 3D camera scans the shoe upper in real time, intelligently identifying the shoe style and size. Then, it retrieves the corresponding upper trajectory. The intelligent algorithm system adjusts the adaptation trajectory in real time based on the scan results, ensuring a perfect fit to the shoe upper. This effectively solves the problems of positional deviations during shoe last clamping and upper deviations during last fitting. It significantly reduces the precision requirements for shoe lasts, allowing the use of traditional, ordinary shoe lasts without the need for specific high-precision lasts, effectively saving production costs for enterprises. At the same time, it greatly expands the application range of the equipment.

[0015] 2. The shoe last clamping mechanism is simple to operate and highly versatile. It can efficiently and stably clamp and fix traditional shoe lasts, ensuring their stability and reliability during subsequent glue spraying and roughening processes. It is compatible with various styles of traditional shoe lasts, effectively solving the clamping difficulties caused by the low precision and simple structure of traditional shoe lasts.

[0016] 3. The omnidirectional floating roughing technology, equipped with a force sensor, adjusts the floating pressure by regulating air pressure. The rotation speed and force can be set according to the product material, resulting in uniform and smooth roughing with an accuracy of ±0.5MM. This technology overcomes the technical bottlenecks of uneven roughing, missed roughing, and incorrect roughing in automated shoe upper roughing. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of a shoe upper roughening spraying device based on visual correction technology according to this utility model;

[0018] Figure 2 This is a partial structural diagram of a shoe upper roughening spraying device based on visual correction technology according to this utility model;

[0019] Figure 3 This is a schematic diagram of the clamping mechanism and the roughing mechanism of a shoe upper roughing spraying device based on visual correction technology according to this utility model;

[0020] Figure 4 This is a partial schematic diagram of the conveying clamping mechanism;

[0021] Figure 5 This is a schematic diagram of the conveying clamping mechanism;

[0022] Figure 6 This is a schematic diagram of the visual correction mechanism;

[0023] Figure 7 This is a schematic diagram of the roughing mechanism;

[0024] The reference numerals in the accompanying drawings of the instruction manual include: 1. Housing; 101. Glass door; 102. Front baffle; 2. Visual correction mechanism; 201. Visual motor; 202. Fixing block; 203. Lead screw; 204. Slider; 205. Mounting plate; 206. 3D camera; 207. Base plate; 208. Fixing plate; 209. Baffle; 3. Conveying clamping mechanism; 301. Conveying motor; 302. Conveying fixing block; 303. Conveying lead screw; 304. Conveying support plate; 305. Conveying mounting plate; 306. Cylinder plate 307. Clamping cylinder; 308. Shoe fittings; 309. Conveying slider; 310. Conveying baffle; 311. Conveying fixing plate; 312. Fixing shoe block; 313. Shoe fitting support plate; 314. Support column; 315. Support pad; 316. Dustproof assembly; 4. Robotic arm; 5. Roughing mechanism; 501. Flange cylinder; 502. Flange plate; 503. Roughing support plate; 504. Universal float; 505. Roughing abrasive; 506. Back plate; 507. Dust suction pipe; 508. Mounting block; 509. Floating fixing plate. Detailed Implementation

[0025] To enable those skilled in the art to better understand this utility model, the technical solution of this utility model will be further described below in conjunction with the accompanying drawings and embodiments.

[0026] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual images. They should not be construed as limiting the scope of this patent. To better illustrate the embodiments of this utility model, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0027] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," "right," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0028] In the description of this utility model, unless otherwise explicitly specified and limited, the term "connection" or similar designation indicating the connection relationship between components should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0029] Example 1:

[0030] like Figure 1-7As shown, this utility model discloses a shoe upper roughening and spraying adhesive device based on visual correction technology, comprising a housing 1, a glass door 101 on one side of the housing 1, a front baffle 102 on one side of the housing 1, a visual correction mechanism 2 on the front baffle 102, a conveying and clamping mechanism 3 on the lower side of the front baffle 102, a robotic arm 4 on one side of the conveying and clamping mechanism 3, and a roughening mechanism 5 on the robotic arm 4. The visual correction mechanism 2 includes a movable component fixedly connected to the housing 1, a mounting plate 205 on the movable component, and a 3D camera 206 mounted on the mounting plate 205. The conveying and clamping mechanism 3 includes a conveying assembly, a cylinder plate 306 on the conveying assembly, a clamping cylinder 307 on the cylinder plate 306, a fixed shoe block 312 on one side of the clamping cylinder 307, a shoe fitting 308 on the fixed shoe block 312, a shoe fitting support plate 313 on the front side of the fixed shoe block 312, a support column 314 on the shoe fitting support plate 313, and a support pad 315 on the support column 314. Specifically, the 3D camera can collect the three-dimensional point cloud data of the shoe fitting in real time, the detection range covers the workbench surface, and the positioning accuracy is ±0.1mm.

[0031] The roughing mechanism 5 includes a flange cylinder 501 connected to the robotic arm 4. A flange plate 502 is provided on the lower side of the flange cylinder 501. Roughing support plates 503 are provided on both sides of the flange plate 502. A floating fixing plate 509 is provided on the inner side of the roughing support plate 503. A universal float 504 is provided on the floating fixing plate 509. A roughing abrasive 505 is provided on the lower side of the universal float 504. A rear plate 506 is provided on one side of the flange plate 502. An installation block 508 is fixedly connected to the roughing support plate 503. A dust suction pipe 507 is provided on the installation block 508.

[0032] The moving component includes a base plate 207 fixedly connected to the housing 1. A fixed plate 208 is mounted on the base plate 207, and moving support plates are located on both sides of the fixed plate 208. A fixed block 202 is mounted on the moving support plate, and a vision motor 201 is mounted on the fixed block 202. The vision motor 201 is connected to a lead screw 203, and a slider 204 is mounted on the lead screw 203. A baffle 209 passes through the slider 204, and the baffle 209 is fixedly connected to the moving support plate. A mounting plate 205 is fixedly connected to the slider 204. Specifically, this enables rapid movement within the 3D camera worktable area to complete the acquisition of 3D point cloud data.

[0033] The conveying assembly includes a conveying fixing plate 311 fixedly connected to the housing 1. Conveying support plates 304 are provided on both sides of the conveying fixing plate 311. A conveying fixing block 302 is provided on one side of the conveying support plate 304. A conveying motor 301 is provided on one side of the conveying fixing block 302. The output end of the conveying motor 301 is connected to a conveying lead screw 303. A conveying slider 309 is provided on the conveying lead screw 303. A conveying mounting plate 305 is provided on the upper side of the conveying slider 309. A conveying baffle 310 is provided at the upper end of the conveying support plate 304. The conveying baffle 310 passes through the conveying slider 309. A dustproof component 316 is provided on the conveying baffle 310. A cylinder plate 306 is fixedly connected to the conveying mounting plate 305. Specifically, this achieves precise delivery of the shoe to the processing position.

[0034] The clamping cylinder 307 has a rubber pad on its push rod, and a dust cover is provided on the outside of the clamping cylinder 307. The support pad 315 is made of rubber. The fixing shoe block 312 has a boss, which is fixed to the shoe fitting 308. Specifically, the boss on the fixing shoe block (adapts to different shoe sizes) has a shoe fitting support plate on the front side, and a support pad is installed at the top of the support column on the shoe fitting support plate, forming a stable structure of "bottom support + side clamping". The clamping force can be adjusted by the cylinder pressure.

[0035] A U-shaped groove is formed on one side of the suction pipe 507, within which the roughing mold 505 can move. A force sensor is installed on the omnidirectional float 504. Specifically, the U-shaped groove on one side of the suction pipe allows the suction pipe to absorb the dust generated during the roughing process.

[0036] The 3D camera 206 and the robotic arm 4 are electrically connected to the PLC control panel. Specifically, the 3D camera is connected to the PLC control panel, and the robotic arm receives PLC signals to execute actions. When the shoe is transported to the detection position, the moving component of the vision correction mechanism drives the 3D camera to scan the surface of the shoe, obtaining the deviation between the actual position and the standard position (e.g., ±1mm on the X / Y axis, ±1mm on the Z axis). After the PLC calculates the compensation amount, it drives the robotic arm to adjust the coarsening trajectory to ensure that the coarsening accuracy is ≤0.3mm.

[0037] Operating principle: The shoe cover is placed on the protrusion of the fixed shoe block 312, the support pad 315 contacts the shoe surface, and the conveying clamping mechanism 3 is started; the conveying motor 301 drives the conveying screw 303 to send the shoe 308 to the detection position, and the clamping cylinder 307 is vented at 0.4MPa to complete the clamping; the vision motor 201 drives the 3D camera 206 to move along the screw 203 at a speed of 50mm / s to collect the three-dimensional data of the shoe, and the PLC analyzes the deviation such as X-axis +1.2mm and Y-axis -0.8mm, and generates roughing and glue spraying trajectories.

[0038] The robotic arm 4 moves along the compensated trajectory, and the roughening mold 505 contacts the shoe surface. The omnidirectional float 504 adjusts the floating pressure by 20-30N according to the feedback from the force sensor, and the roughing accuracy reaches ±0.5mm. After the roughing is completed, the robotic arm switches to the glue spraying device and completes the glue spraying operation according to the preset trajectory.

[0039] This device solves the precision and efficiency problems of traditional shoe upper processing through the coordinated design of visual correction, stable clamping and precise roughing. It can be widely used in shoe production lines such as sports shoes and leather shoes, and has significant industrial value.

[0040] The above are merely embodiments of this utility model. The circuits, electronic components, and modules involved are all prior art, fully achievable by those skilled in the art, and require no further explanation. The content protected by this application does not involve improvements to the software and methods. Commonly known structures and characteristics in the solution are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field to which this utility model pertains prior to the application date or priority date, are able to access all existing technologies in that field, and possess the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, under the guidance of this application, improve and implement this solution in conjunction with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of this utility model. These should also be considered within the scope of protection of this utility model, and will not affect the effectiveness of the implementation of this utility model or the practicality of the patent.

Claims

1. A shoe upper roughening spraying device based on visual correction technology, characterized in that: The system includes a housing (1), a front baffle (102) on one side of the housing (1), a visual correction mechanism (2) on the front baffle (102), a conveying clamping mechanism (3) on the lower side of the front baffle (102), a robotic arm (4) on one side of the conveying clamping mechanism (3), a roughening mechanism (5) on the robotic arm (4), and a moving component (2) fixedly connected to the housing (1). The moving component has a mounting plate (205) on it, and a 3D camera is mounted on the mounting plate (205). 206); The conveying clamping mechanism (3) includes a conveying assembly, a cylinder plate (306) is provided on the conveying assembly, a clamping cylinder (307) is provided on the cylinder plate (306), a fixed shoe block (312) is provided on one side of the clamping cylinder (307), a shoe accessory (308) is provided on the fixed shoe block (312), a shoe accessory support plate (313) is provided on the front side of the fixed shoe block (312), a support column (314) is provided on the shoe accessory support plate (313), and a support pad (315) is provided on the support column (314); The roughing mechanism (5) includes a flange cylinder (501) connected to the robotic arm (4). A flange plate (502) is provided on the lower side of the flange cylinder (501). Roughing support plates (503) are provided on both sides of the flange plate (502). A floating fixing plate (509) is provided on the inner side of the roughing support plate (503). A universal float (504) is provided on the floating fixing plate (509). A roughing abrasive (505) is provided on the lower side of the universal float (504). A rear plate (506) is provided on one side of the flange plate (502). An installation block (508) is fixedly connected to the roughing support plate (503). A dust suction pipe (507) is provided on the installation block (508).

2. The shoe upper roughening spraying device based on visual correction technology as described in claim 1, characterized in that: The movable component includes a base plate (207) fixedly connected to the housing (1), a fixing plate (208) on the base plate (207), movable support plates on both sides of the fixing plate (208), a fixing block (202) on the movable support plate, a vision motor (201) on the fixing block (202), the vision motor (201) being connected to a lead screw (203), a slider (204) on the lead screw (203), a baffle (209) passing through the slider (204), the baffle (209) being fixedly connected to the movable support plate, and a mounting plate (205) fixedly connected to the slider (204).

3. The shoe upper roughening spraying device based on visual correction technology as described in claim 1, characterized in that: The conveying assembly includes a conveying fixing plate (311) fixedly connected to the housing (1), conveying support plates (304) on both sides of the conveying fixing plate (311), a conveying fixing block (302) on one side of the conveying support plate (304), a conveying motor (301) on one side of the conveying fixing block (302), the output end of the conveying motor (301) is connected to the conveying screw (303), a conveying slider (309) is provided on the conveying screw (303), a conveying mounting plate (305) is provided on the upper side of the conveying slider (309), a conveying baffle (310) is provided at the upper end of the conveying support plate (304), the conveying baffle (310) passes through the conveying slider (309), a dustproof component (316) is provided on the conveying baffle (310), and a cylinder plate (306) is fixedly connected to the conveying mounting plate (305).

4. The shoe upper roughening spraying device based on visual correction technology as described in claim 1, characterized in that: The clamping cylinder (307) push rod is provided with a rubber pad, the clamping cylinder (307) is provided with a dust cover on the outside, and the support pad (315) is made of rubber material.

5. The shoe upper roughening spraying device based on visual correction technology as described in claim 1, characterized in that: The fixed shoe block (312) is provided with a boss, which is fixed to the shoe (308).

6. The shoe upper roughening spraying device based on visual correction technology as described in claim 1, characterized in that: A U-shaped groove is provided on one side of the suction pipe (507), and the roughing tool (505) can move in the U-shaped groove. An air pipe connector is provided on the universal float (504).

7. The shoe upper roughening spraying device based on visual correction technology as described in claim 1, characterized in that: The 3D camera (206) is electrically connected to the PLC control panel, and the robotic arm (4) is electrically connected to the PLC control panel.

Images